Small-gain control method for stochastic nonlinear systems with stochastic iISS inverse dynamics

This paper investigates the small-gain type conditions on stochastic iISS (SiISS) systems and makes full use of these conditions in the design and analysis of the controller. The contributions are as follows: (1) A new proof of the stochastic LaSalle theorem is provided; (2) The small-gain type conditions on SiISS are developed and their relationship is discussed; (3) Based on the stochastic LaSalle theorem and SiISS small-gain type conditions, the adaptive controllers are designed to guarantee that all of the closed-loop signals are bounded almost surely and the stochastic closed-loop systems are globally (asymptotically) stable in probability. Crown Copyright (C) 2010 Published by Elsevier Ltd. All rights reserved.